intial commit

Tabby_GPS.ino

@@ -0,0 +1,136 @@
+#include <Arduino.h>
+#include <cctype>
+#include <TinyGPSPlus.h>
+#include "driver/twai.h"
+#include <stdio.h>
+
+// CAN Setup
+#define CAN_TX_GPIO     (gpio_num_t)23
+#define CAN_RX_GPIO     (gpio_num_t)22
+#define CANBUS_SPEED    500000   // 500kbps
+#define CAN_QUEUE_LENGTH 32
+
+// GPS Serial Setup
+#define RXD2 16
+#define TXD2 17
+#define PPS_PIN 4
+
+#define GPS_BAUD 9600
+
+bool location_data_ready = false;
+bool gps_started = false;
+
+// Initialise dependancies
+TinyGPSPlus gps;
+
+// Time between new data send steps
+#define STEP_INTERVAL 500
+
+// Structures
+typedef struct struct_gps {
+  float gps_lat;
+  float gps_lng;
+} struct_gps;
+
+struct_gps GPSData;
+HardwareSerial gpsSerial(2);
+
+// initialise CANBus
+void canbus_init(void) {
+  // Configure TWAI (CAN)
+    twai_general_config_t g_config = TWAI_GENERAL_CONFIG_DEFAULT(CAN_TX_GPIO, CAN_RX_GPIO, TWAI_MODE_NORMAL);
+    twai_timing_config_t t_config = TWAI_TIMING_CONFIG_500KBITS();
+    twai_filter_config_t f_config = TWAI_FILTER_CONFIG_ACCEPT_ALL();  // Accept all IDs
+ 
+    // Install and start TWAI driver
+    if (twai_driver_install(&g_config, &t_config, &f_config) == ESP_OK) {
+        Serial.println("TWAI driver installed.");
+    } else {
+        Serial.println("Failed to install TWAI driver.");
+        while (1);
+    }
+
+    if (twai_start() == ESP_OK) {
+        Serial.println("TWAI driver started.");
+    } else {
+        Serial.println("Failed to start TWAI driver.");
+        while (1);
+    }
+}
+
+void send_location_data() {
+  Serial.print("Sending location data: Lat=");
+  Serial.print(GPSData.gps_lat, 6);
+  Serial.print(", Lng=");
+  Serial.println(GPSData.gps_lng, 6);
+
+  // Prepare CAN message
+  twai_message_t message = {};
+  message.identifier = 0x430; // Example CAN ID, adjust as needed
+  message.data_length_code = 8; // 4 bytes for lat, 4 bytes for lng
+  message.flags = 0;
+
+  // Pack floats into CAN data (little-endian)
+  float lat = GPSData.gps_lat;
+  float lng = GPSData.gps_lng;
+  memcpy(&message.data[0], &lat, 4);
+  memcpy(&message.data[4], &lng, 4);
+
+  esp_err_t err = twai_transmit(&message, pdMS_TO_TICKS(10));
+  if (err == ESP_OK) {
+    Serial.println("CAN message sent successfully.");
+  } else {
+    Serial.printf("Failed to transmit TWAI message ID 0x%03X: %d\n", message.identifier, err);
+  }
+}
+
+void check_gps() {
+    gps_started = true;
+
+    while (gpsSerial.available() > 0) {
+      gps.encode(gpsSerial.read());
+    }
+
+    // Update location if valid
+    if (gps.location.isValid() && gps.location.lat() != 0.0f && gps.location.lng() != 0.0f) {
+      Serial.println("Latest location known");
+      GPSData.gps_lat = gps.location.lat();
+      GPSData.gps_lng = gps.location.lng();
+      location_data_ready = true;
+    } else {
+      Serial.println("Latest location not known or invalid");
+    }
+}
+
+void setup() {
+  Serial.begin(115200);
+  canbus_init();
+
+  gpsSerial.begin(GPS_BAUD, SERIAL_8N1, RXD2, TXD2);
+  pinMode(PPS_PIN, INPUT_PULLUP);
+}
+
+void loop() {
+  static unsigned long lastSendTime = 0;
+  unsigned long currentMillis = millis();
+
+  // Always read GPS data
+  while (gpsSerial.available() > 0) {
+    gps.encode(gpsSerial.read());
+  }
+
+  // Update location if valid
+  if (gps.location.isValid() && gps.location.lat() != 0.0f && gps.location.lng() != 0.0f) {
+    GPSData.gps_lat = gps.location.lat();
+    GPSData.gps_lng = gps.location.lng();
+    location_data_ready = true;
+  } else {
+    location_data_ready = false;
+  }
+
+  // Send every 500ms
+  if (location_data_ready && (currentMillis - lastSendTime >= STEP_INTERVAL)) {
+    send_location_data();
+    lastSendTime = currentMillis;
+  }
+}